CN104973265B - A kind of electric steering engine zero adjustment method - Google Patents
A kind of electric steering engine zero adjustment method Download PDFInfo
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- CN104973265B CN104973265B CN201510394319.1A CN201510394319A CN104973265B CN 104973265 B CN104973265 B CN 104973265B CN 201510394319 A CN201510394319 A CN 201510394319A CN 104973265 B CN104973265 B CN 104973265B
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Abstract
The invention discloses a kind of electric steering engine zero adjustment method, the method can make it meet zero-bit required precision with the zero-bit after the stowage of quick regulation steering wheel.The present invention achieves the calibration of steering wheel zero-bit using software, by increasing steering wheel zero adjustment communications command, the current electrical null position of steering wheel is stored in FLASH, carry out converting etc. software code to steering wheel mechanical deflection angle and electric angle, just can put in place checking for zero for steering wheel, not affect the normal deflection of steering wheel simultaneously.Steering wheel mechanical zero calibration steps proposed by the present invention is simply effective, need not remove steering wheel and readjust zero-bit, has that software is easily realized, steering wheel zeroing is fast, low cost and other advantages, can greatly improve steering wheel stowage work efficiency.
Description
Technical field
The invention belongs to electrical servo field is and in particular to a kind of electric steering engine zero adjustment method.
Background technology
Steering wheel stowage after require steering wheel mechanical zero must within the zero-bit groove of two, rudder stock surface, and the error of zero will
Less than 0.3 °, require the current angular of steering wheel angle potentiometer feedback, that is, steering wheel electrical null position is also near zero simultaneously.Stowage
The mechanical zero of steering wheel and electrical null position must all are fulfilled for zero-bit required precision afterwards, and only in this way steering wheel output shaft connects rudder face
Afterwards, the zero-bit precision of rudder face is just guaranteed.
Due to many factors such as machining, assembling and steering wheel zero testings, mechanical zero after steering wheel stowage can be led to
Inaccurate.The solution commonly used at present：One is the tolerance being strict with machining, improves steering wheel nacelle, steering wheel mechanical interface
Machining accuracy；Two is design specialized steering wheel zeroing tooling device, ensures that using frock the zero-bit precision after steering wheel stowage will
Ask；Three is to formulate steering wheel topping off private processes, meets the zero-bit precision after steering wheel stowage by complicated operating process
Require.Above-mentioned solution, not only development cost is high, and efficiency of shipping is low, when particularly batch steering wheel product is shipped, seriously
Govern the work efficiency of stowage.
Content of the invention
It is an object of the invention to provide a kind of electric steering engine zero adjustment method, to overcome above-mentioned prior art to exist
Defect, the present invention need not remove steering wheel and readjust zero-bit, have that software is easily realized, steering wheel zeroing is fast, low cost and other advantages, can
To greatly improve steering wheel stowage work efficiency.
For reaching above-mentioned purpose, the present invention adopts the following technical scheme that：
A kind of electric steering engine zero adjustment method, comprises the following steps：
Step one：After steering wheel stowage, whether detection steering wheel mechanical zero within two zero-bit grooves, if so, now steering wheel
Mechanical zero is overlapped with electrical null position, does not carry out zero adjustment, if it is not, then entering step 2；
Step 2：Steering engine controller receives the inclined control command of rudder that bus issues, and controls steering wheel to rotate into zero-bit groove,
And detect steering wheel mechanical zero whether within two zero-bit grooves, if so, now steering wheel mechanical zero and electrical null position do not weigh
Close, then enter step 3, if it is not, then repeat step two；
Step 3：Steering engine controller receives the zero adjustment order that bus issues, and the processor in steering engine controller obtains
Steering wheel current yaw angle degree, using this angle as steering wheel electrical null position, and is stored, and after the completion of calibration operation, steering wheel just enters
Often mode of operation.
Further, in the normal mode of operation, processor reads steering wheel electrical null position to steering wheel first, then by angle of rudder reflection
Command value is converted into the inclined electric angle of rudder and participates in steering wheel position-force control, is converted into the steering wheel collecting deflection angle simultaneously
Mechanical deflection angle, last processor uploads steering wheel mechanical deflection angle by bus.
Further, steering wheel in the normal mode of operation, if user will obtain steering wheel electrical null position, by bus to steering wheel
Controller sends calibration querying command, and processor reads steering wheel electrical null position, and is uploaded to user, calibration inquiry behaviour by bus
After the completion of work, steering wheel is still in normal mode of operation.
Further, steering wheel in the normal mode of operation, if user will remove steering wheel electrical null position, by bus to steering wheel
Controller sends calibration clearing command, and current steering wheel electrical null position resets by processor, and after the completion of calibrating clear operation, steering wheel is still
It is in normal mode of operation.
Further, in step 3, steering wheel electrical null position is written in the in-chip FLASH of processor and is stored.
Further, method angle of rudder reflection command value being converted into the inclined electric angle of rudder is：Steering wheel electrical null position A-ZR
Represent, the inclined command value of rudder represents with A-ANG, the inclined electric angle of rudder is represented with A-SET, then A-SET=A-ANG+A-ZR.
Further, the method steering wheel collecting current yaw angle degree being converted into mechanical deflection angle is：Steering wheel electricity
Gas zero-bit is represented with A-ZR, and steering wheel current yaw angle degree represents with A-RT, mechanical deflection angle is represented with A-ANG, then A-ANG=
A-RT–A-ZR.
Compared with prior art, the present invention has following beneficial technique effect：
The inventive method can make it meet zero-bit required precision with the zero-bit after the stowage of quick regulation steering wheel, real using software
Show the calibration of steering wheel zero-bit, by increasing steering wheel zero adjustment communications command, stored steering wheel electrical null position, to steering wheel machinery partially
Gyration and electric angle are carried out converting etc. software code, just can put in place checking for zero for steering wheel, just not affect steering wheel simultaneously
Often deflect.Steering wheel mechanical zero calibration steps proposed by the present invention is simply effective, need not remove steering wheel and readjust zero-bit, have
Software is easily realized, steering wheel zeroing is fast, low cost and other advantages, can greatly improve steering wheel stowage work efficiency, be a kind of general
Steering wheel mechanical zero calibration steps, can meet the zero adjustment need of electric steering engine in the systems such as guided missile, unmanned plane, smart bombs
Ask.
Brief description
Fig. 1 is the electric steering engine zero adjustment flow chart of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings the present invention is described in further detail：
A kind of electric steering engine zero adjustment method, comprises the following steps：
Step one：With the survey tool such as square, clearance gauge detection steering wheel mechanical zero whether at two zero after steering wheel stowage
Within the groove of position, if so, now steering wheel mechanical zero is overlapped with electrical null position, does not carry out zero adjustment, if it is not, then entering step
Two；
Step 2：Steering engine controller receives the inclined control command of rudder that bus issues, and controls steering wheel to rotate into zero-bit groove,
And detect steering wheel mechanical zero whether within two zero-bit grooves, if so, now steering wheel mechanical zero and electrical null position do not weigh
Close, then enter step 3, if it is not, then repeat step two；
Step 3：Steering engine controller receives the zero adjustment order that bus issues, and the processor in steering engine controller obtains
Steering wheel current yaw angle degree, using this angle as steering wheel electrical null position, and is written in the in-chip FLASH of processor and is deposited
Storage, that is, after completing zero adjustment operation, steering wheel current yaw angle degree and steering wheel electrical null position are same values, and calibration operation completes
Steering wheel enters normal mode of operation afterwards.
In the normal mode of operation, processor reads steering wheel electrical null position first from FLASH to steering wheel, then by angle of rudder reflection
Command value is converted into the inclined electric angle of rudder and participates in steering wheel position-force control, and angle of rudder reflection command value is converted into the inclined electric angle of rudder
Method be：Steering wheel electrical null position is represented with A-ZR, and the inclined command value of rudder is represented with A-ANG, rudder inclined electric angle A-SET table
Show, then A-SET=A-ANG+A-ZR；The steering wheel collecting deflection angle is converted into mechanical deflection angle simultaneously, will collect
Steering wheel current yaw angle degree be converted into the method for mechanical deflection angle and be：Steering wheel electrical null position represents with A-ZR, steering wheel is current
Deflection angle is represented with A-RT, and mechanical deflection angle is represented with A-ANG, then A-ANG=A-RT A-ZR；Last processor passes through
Bus uploads steering wheel mechanical deflection angle.
In the normal mode of operation, control command is continually changing, and steering wheel current yaw angle degree also follows the inclined command value of rudder to become
Change, and steering wheel electrical null position is constant it is simply that value of being stored in during calibration operation in FLASH.
Steering wheel in the normal mode of operation, if user will obtain steering wheel electrical null position, is sent out to steering engine controller by bus
Send calibration querying command, processor reads steering wheel electrical null position from FLASH, and user, calibration inquiry are uploaded to by bus
After the completion of operation, steering wheel is still in normal mode of operation.
Steering wheel in the normal mode of operation, if user will remove steering wheel electrical null position, is sent out to steering engine controller by bus
Send calibration clearing command, processor by the steering wheel storing in FLASH electrical null position reset, calibration clear operation after the completion of steering wheel still
It is in normal mode of operation.
Below the implementation process of the present invention is further described：
It is an object of the invention to changing existing steering wheel product stowage zero adjustment have that complex operation, efficiency is low, cost
High problem.Steering wheel zero adjustment is complex at present, rotates steering wheel output shaft first and is adjusted in place steering wheel mechanical zero；Connect
Adjustment angle potentiometer makes the electrical null position of steering wheel meet requirement；Then steering wheel is shipped, during stowage, constantly adjustment is pacified
Cartridge screw, and measure steering wheel mechanical zero using the instrument such as square, slide calliper rule；If steering wheel zero-bit meets required precision, tighten
Mounting screw, otherwise will repeat the operation of first three step.
In order to simplify steering wheel mechanical zero calibration operation, realize the fast and efficiently checking for zero purpose of steering wheel, the present invention is
Adopt the following technical scheme that and be achieved, referring to Fig. 1：
1. increase steering wheel zero adjustment relevant communication protocol
Receive the inclined control command of rudder by 422 universal serial bus more than steering engine controller at present, and upload angle of rudder reflection currency.This
Invention increases steering wheel zero adjustment order, calibration clearing command and calibration querying command in existing bus communication protocol, realizes
The change of steering wheel electrical null position, clearing and query function.After controller receives zero adjustment order, obtain steering wheel currently electric
Angle, using this angle as new electrical null position；After controller receives calibration clearing command, steering wheel electrical null position is reset；
After controller receives zero-bit querying command, steering wheel electrical null position is uploaded by bus.
2. store steering wheel electrical null position in FLASH
Before not receiving steering wheel zero adjustment order, in the FLASH of processor, the steering wheel electrical null position of storage is initial
Value zero degree.If controller receives zero adjustment order, and carry out corresponding operation, then in processor in-chip FLASH
Electrical null position can be rewritten into the current angle value of angle potentiometer feedback.If wanting to make steering wheel electrical null position come back to zero degree,
Only calibration clearing command need to be sent, the electrical null position in FLASH can be rewritten into zero degree immediately.
3. the inclined mechanical angle of rudder and electric angle are calculated
Under normal circumstances, the electrical null position of steering wheel is overlapped with mechanical zero.If controller performs zero adjustment behaviour
Make, then the electrical null position of steering wheel is just no longer overlapped with mechanical zero.Because the angle of steering wheel deflection is with mechanical zero for ginseng
Examine, when electrical null position is not zero degree it is necessary to be converted into after the inclined electric angle of rudder inclined for the rudder receiving mechanical angle, Cai Nengcan
With steering wheel position-force control.The electric angle of the always steering wheel of angle potentiometer feedback is worked as it is also desirable to be converted into steering wheel simultaneously
Front mechanical angle just can upload to bus.
● the realization of steering wheel zero adjustment related protocol
Increase by 3 kinds of communication commands relevant with calibration in original 422 bus communication protocols of steering engine controller, shown in table 1
Rear three kinds of orders, these three orders are single byte command, printenv, and communication data format and content are as shown in table 2.
Table 1 bus communication command description
| Sequence number | Order | Command word | Function declaration |
| 1 | Self-inspection querying command | 0x21 | Inquiry angle of rudder reflection currency, order printenv below |
| 2 | The inclined control command of rudder | 0x32 | Steering wheel is controlled to go to respective angles, order is followed by angle of rudder reflection parameter |
| 3 | Zero adjustment order | 0x43 | Using current angle of rudder reflection as electrical null position, order printenv below |
| 4 | Calibration clearing command | 0x54 | Electrical null position is reset, order printenv below |
| 5 | Calibration querying command | 0x65 | Inquiry steering wheel electrical null position, order printenv below |
Table 2 communication data format and content
After steering engine controller completes 3 kinds of calibration commands, reply data bag need to be uploaded by bus, current to inform user
Whether calibration command completes.The form of reply data bag is consistent with command packet, wherein zero adjustment command response and calibration
Clearing command response, without parameter, is calibrated querying command response bag and is contained the current electrical null position value of 4 steering wheels.
● the conversion of the inclined mechanical angle of rudder and electric angle
The mechanical zero of steering wheel stowage rear output shaft is overlapped with electrical null position.If mechanical zero is not in zero-bit groove, just
Issuing the inclined control command of rudder by bus controls steering wheel output shaft to deflect in mechanical zero groove, the now electrical null position of steering wheel
It is no longer zero degree, but deflects into certain special angle, that is, be exactly new steering wheel electrical null position, represented with A-ZR.
After controller receives the inclined control command of rudder, the angle of rudder reflection parameter parsing from packet is the mechanical inclined of steering wheel
Gyration, that is, the inclined command value of rudder, is represented with A-ANG.The inclined electric angle of rudder, is represented with A-SET.So there is following relational expression：
A-SET=A-ANG+A-ZR (1)
In steering wheel position-force control loop, the electric angle using the inclined command value of rudder and currency is controlled.Cause
This A-SET is the real steering wheel deflection angle setting value participating in and controlling.
The steering wheel angle potentiometer feedback currency of processor collection, that is, steering wheel current yaw angle degree, is represented with A-RT, A-
RT is the steering wheel deflection angle currency participating in controlling.What controller was uploaded to bus is the mechanical deflection angle of steering wheel, uses A-
ANG represents, then there is following relational expression：
A-ANG=A-RT A-ZR (2)
If steering wheel electrical null position A-ZR=0, then the electrical null position of steering wheel is just overlapped with mechanical zero.Above-mentioned formula (1)
(2) achieve the mutual conversion of steering wheel mechanical deflection angle and electric angle.
Claims (6)
1. a kind of electric steering engine zero adjustment method is it is characterised in that comprise the following steps：
Step one：After steering wheel stowage, whether, within two zero-bit grooves, if so, now steering wheel is mechanical for detection steering wheel mechanical zero
Zero-bit is overlapped with electrical null position, does not carry out zero adjustment, if it is not, then entering step 2；
Step 2：Steering engine controller receives the inclined control command of rudder that bus issues, and controls steering wheel to rotate into zero-bit groove, and examines
Survey steering wheel mechanical zero whether within two zero-bit grooves, if so, now steering wheel mechanical zero is misaligned with electrical null position, then
Enter step 3, if it is not, then repeat step two；
Step 3：Steering engine controller receives the zero adjustment order that bus issues, and the processor in steering engine controller obtains steering wheel
Current yaw angle degree, using this angle as steering wheel electrical null position, and is stored, and after the completion of calibration operation, steering wheel enters normal work
Operation mode, in the normal mode of operation, processor reads steering wheel electrical null position to steering wheel first, then angle of rudder reflection command value converts
Become the inclined electric angle of rudder to participate in steering wheel position-force control, the steering wheel collecting deflection angle is converted into mechanical deflection angle simultaneously
Degree, last processor uploads steering wheel mechanical deflection angle by bus.
2. a kind of electric steering engine zero adjustment method according to claim 1 is it is characterised in that steering wheel is in normal work mould
Under formula, if user will obtain steering wheel electrical null position, calibration querying command is sent to steering engine controller by bus, processor reads
Steering wheel electrical null position, and user is uploaded to by bus, after the completion of calibration inquiry operation, steering wheel is still in normal mode of operation.
3. a kind of electric steering engine zero adjustment method according to claim 1 is it is characterised in that steering wheel is in normal work mould
Under formula, if user will remove steering wheel electrical null position, calibration clearing command is sent to steering engine controller by bus, processor ought
Front rudder electrical-mechanical zero-bit resets, and after the completion of calibration clear operation, steering wheel is still in normal mode of operation.
4. a kind of electric steering engine zero adjustment method according to claim 1 it is characterised in that in step 3 by steering wheel electricity
Gas zero-bit is written in the in-chip FLASH of processor and is stored.
5. a kind of electric steering engine zero adjustment method according to claim 1 is it is characterised in that change angle of rudder reflection command value
The method being counted as the inclined electric angle of rudder is：Steering wheel electrical null position is represented with A-ZR, and the inclined command value of rudder represents with A-ANG, rudder is partially electric
Air horn degree is represented with A-SET, then A-SET=A-ANG+A-ZR.
6. a kind of electric steering engine zero adjustment method according to claim 1 is it is characterised in that work as the steering wheel collecting
The method that front deflection angle is converted into mechanical deflection angle is：Steering wheel electrical null position is represented with A-ZR, steering wheel current yaw angle degree
Represented with A-RT, mechanical deflection angle is represented with A-ANG, then A-ANG=A-RT A-ZR.
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| CN201510394319.1A CN104973265B (en) | 2015-07-07 | 2015-07-07 | A kind of electric steering engine zero adjustment method |
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| CN201510394319.1A CN104973265B (en) | 2015-07-07 | 2015-07-07 | A kind of electric steering engine zero adjustment method |
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Families Citing this family (13)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105537926B (en) * | 2015-12-15 | 2018-04-24 | 沪东中华造船(集团)有限公司 | A kind of method for excluding steering engine and rudder stock mechanical zero deviation |
| CN106547234A (en) * | 2016-09-30 | 2017-03-29 | 中国科学院长春光学精密机械与物理研究所 | A kind of aircraft electric steering engine regulator control system and regulation and control method |
| CN106546160B (en) * | 2016-11-24 | 2019-01-25 | 兰州飞行控制有限责任公司 | A kind of electric steering engine displacement sensor zero testing circuit |
| CN107102651A (en) * | 2017-05-10 | 2017-08-29 | 北京机械设备研究所 | A kind of online adjusting zero method of helm gear |
| CN107825418A (en) * | 2017-10-24 | 2018-03-23 | 深圳市创客工场科技有限公司 | A kind of steering wheel, anglec of rotation reset method and apparatus |
| CN109079778A (en) * | 2018-08-07 | 2018-12-25 | 珠海格力电器股份有限公司 | Robot zero setting system and method |
| CN109059682B (en) * | 2018-08-31 | 2020-10-09 | 西安航天动力技术研究所 | Steering engine mechanical zero position quick alignment device |
| CN109533384B (en) * | 2018-11-02 | 2020-09-18 | 北京航天控制仪器研究所 | Rapid zero setting method for electric steering engine |
| CN111376256A (en) * | 2018-12-29 | 2020-07-07 | 深圳市优必选科技有限公司 | Steering engine angle calibration method and system, robot and storage medium |
| CN109737825A (en) * | 2019-01-28 | 2019-05-10 | 西安深瞳智控技术有限公司 | Guided missile rudder face mechanical zero and electrical null position while calibration tool and application method |
| CN109857054B (en) * | 2019-02-28 | 2020-07-28 | 西安微电子技术研究所 | Automatic zero setting device and method for electric steering engine |
| CN113335551A (en) * | 2020-03-02 | 2021-09-03 | 中航西飞民用飞机有限责任公司 | Zero setting method for electro-hydraulic servo actuator of airplane control surface |
| CN116692022B (en) * | 2023-07-13 | 2024-03-08 | 上海莘汭驱动技术有限公司 | Calibrating device for unmanned aerial vehicle steering engine system installation and using method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201885727U (en) * | 2010-10-22 | 2011-06-29 | 湖北航天技术研究院总体设计所 | Mechanical zero calibration device for grid rudders |
| CN103092218A (en) * | 2013-01-06 | 2013-05-08 | 中国航天科技集团公司烽火机械厂 | Method and system for steering engine zero adjustment |
| CN103292837B (en) * | 2013-06-17 | 2016-05-18 | 北京万源多贝克包装印刷机械有限公司 | A kind of encoder zero testing method and tester |
| CN104423320A (en) * | 2013-09-10 | 2015-03-18 | 重庆长安工业(集团)有限责任公司 | Automatic zero setting method of servo control system |
| RU2543111C1 (en) * | 2013-11-19 | 2015-02-27 | Открытое Акционерное Общество "Московский Вертолетный Завод Им. М.Л. Миля" | Helicopter operation |
| CN104654933B (en) * | 2015-03-12 | 2016-06-01 | 上海新跃仪表厂 | A kind of electric servomechanism and adjustment method thereof |
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